CN109972485B

CN109972485B - Cutting tool visual trajectory representation system and method

Info

Publication number: CN109972485B
Application number: CN201811492881.8A
Authority: CN
Inventors: S·拉克莱夫; N·L·马谢克
Original assignee: Caterpillar Paving Products Inc
Current assignee: Caterpillar Paving Products Inc
Priority date: 2017-12-19
Filing date: 2018-12-07
Publication date: 2023-01-10
Anticipated expiration: 2038-12-07
Also published as: DE102018132546A1; US10543782B2; US20190210525A1; CN109972485A

Abstract

A machine includes a work implement and at least one camera configured to capture video images of a viewable area and provide a video signal related to the viewable area to a controller. The controller programs a visual display in which the current position and current orientation of the work implement relative to the viewable area is displayed in real time. The controller also calculates a trajectory of the work implement based on the machine speed and the steering signal to formulate a visual trajectory representation of the work implement relative to the viewable area that is combined with the visual display into a combined visual representation that is presented to the operator via the video display.

Description

Cutting tool visual trajectory representation system and method

Technical Field

The present disclosure relates generally to machines for treating roadway surfaces, and more particularly, to cold planers or planers for road surfacing or re-surfacing operations.

Background

Milling machines, such as cold planers or soil reclaimers, may be configured to remove, mix, or reclaim material from asphalt, concrete, dirt, or asphalt pavement, and other surfaces using optional equipment mounted on the frame. The rotatable tool may be a planing drum or similar tool that grinds existing pavement material, such as a soil reclamation drum. In either case, the rotary tool is mounted on the frame of the machine and is vertically adjustable to control the depth of cut into the ground or other surface on which the machine is operating. Depending on the type of machine, the frame may travel along the work surface using ground engaging members, such as wheels, tracks, and the like.

In a typical arrangement, the rotary tool is enclosed within a housing which is open at its bottom to allow the rotary tool to contact the ground, and which encloses the rotary tool on all remaining sides, both to contain the milled material for collection and/or mixing, and to avoid debris being ejected from the tool during operation. Further, in typical machine configurations, the machine operator is typically located above or in front of the tool housing. The operator's location, along with the tool's enclosure, often makes it difficult for the operator to know exactly where the cut will be made on the ground, especially in situations where the machine needs to change direction during cutting.

U.S. patent No. 8,977,442 issued on 3/10/2015 describes a system that determines the trajectory of a machine as a function of the positions of front and rear running gears, and also as a function of steering angle and steering mode. The system described in this reference also displays images to the operator looking from behind the machine while superimposing calculated trajectories to assist in the manipulation of the machine. However, these representations do not provide the operator with visual information relative to the cutting tool of the machine.

Disclosure of Invention

In one aspect, the present disclosure describes a machine. The machine includes a frame and a plurality of ground engaging members configured to move the machine along the ground at a machine speed and steer the machine relative to the ground at a steering angle. A machine speed sensor provides a machine speed signal indicative of a machine speed, and a steering sensor provides a steering signal indicative of a steering angle. A work implement is connected to the frame and is operative to cut at least a portion of the ground as the machine moves along the ground. At least one camera is associated with the frame and is arranged to capture video images within a visible area and to provide video signals relating to the visible area. The video display is associated with an operator cab of the machine. An electronic controller is associated with the frame.

In one embodiment, the electronic controller is programmed and configured to: the method includes receiving a machine speed signal, a turn signal, and a video signal, determining in real time a current position of the work implement relative to the frame and relative to the viewable area, compiling a visual display in which the current position and current orientation of the work implement relative to the viewable area is displayed in real time, calculating a trajectory of the work implement based on the machine speed signal and the turn signal, compiling a visual trajectory representation of the trajectory of the work implement relative to the viewable area, combining the visual display and the visual trajectory into a combined visual representation, and providing the combined visual representation to the video display.

In another aspect, the present disclosure describes a cold planer. The cold planer includes a frame, a plurality of ground engaging members configured to move the cold planer along a work surface at a machine speed and to steer the cold planer at a steering angle relative to the work surface. The cold planer further comprises: a machine speed sensor providing a machine speed signal indicative of a machine speed, a steering sensor providing a steering signal indicative of a steering angle, a milling drum rotatably supported on the frame, at least one camera associated with the frame and configured to capture video images of and provide video signals related to the viewable area, an operator cab, a video display associated with the operator cab, and an electronic controller associated with the frame.

In one embodiment, the electronic controller is programmed and configured to: receiving the machine speed signal, the steering signal and the video signal, determining in real time a current position of the milling drum relative to the frame and relative to the viewable area, compiling a visual display in which the current position and current orientation of the milling drum relative to the viewable area are displayed in real time in terms of vectors, calculating a trajectory of the milling drum based on the machine speed signal and the steering signal, compiling a visual trajectory representation of the trajectory of the milling drum relative to the viewable area in terms of a curve, combining the visual display and the visual trajectory into a combined visual representation, and providing the combined visual representation to the video display.

In yet another aspect, the present disclosure describes a method for operating a cold planer. The method includes providing a frame and a plurality of ground engaging members configured to move the cold planer along the ground at a cold planer speed and steer the cold planer at a steering angle relative to the ground. The method further comprises the following steps: providing a cold planer speed sensor that provides a cold planer speed signal indicative of a speed of the cold planer; providing a steering signal sensor that provides a steering signal indicative of a steering angle; providing a work implement connected to the frame, the work implement operative to cut at least a portion of the ground as the cold planer moves along the ground; providing at least one camera associated with the frame, the at least one camera configured to capture video images of the viewable area and to provide video signals related to the viewable area; and providing a video display associated with an operator cab of the cold planer.

In one embodiment, the method additionally includes, with an electronic controller associated with the frame: receiving a speed signal, a steering signal and a video signal of the cold planer; determining in real time a current position of the work implement relative to the frame and relative to the viewable area; compiling a visual display in which the current position and current orientation of the work implement relative to the viewable area is displayed in real time; calculating a trajectory of the work implement based on the cold planer speed signal and the steering signal; compiling a visual track representation of a track of the work implement relative to the visible area; combining the visual display and the visual trajectory into a combined visual representation; and provide the combined visual representation to a video display.

Drawings

Fig. 1 is a schematic view from a side view of a cold planer according to the present disclosure.

Fig. 2 is a schematic representation from a top view of a cold planer according to the present disclosure.

Fig. 3 is a schematic illustration of a ground-engaging component of the machine of fig. 1 and 2.

Fig. 4 is a visual display for use on a machine according to the present disclosure.

Fig. 5 is an alternative scenario of the visual display of fig. 4.

Fig. 6 is a block diagram of an electronic controller according to the present disclosure.

Detailed Description

The present disclosure relates to surface working machines, such as cold planers, soil reclaimers, shovels, mini-tillers, and the like. An exemplary machine embodiment described herein is a cold planer, which is a machine that travels along a roadway or other surface and grinds or planes the surface to remove a layer of material. While the present exemplary embodiment illustrates various aspects of the present disclosure, it should be appreciated that any other machine type or configuration, including a penetrating tool that penetrates a surface on which the machine is disposed and covers a work area as the machine travels along the surface to create a strip across the work surface, is suitable for and may benefit from the various systems and methods described herein.

A sketch from a side view of the machine 100 is shown in fig. 1. Fig. 2 shows an outline of the machine 100 from a top perspective. Referring to these figures, the machine 100 includes a frame 102. Supporting the frame are two tracks 104 that are height adjustable relative to the frame 102 so that the frame 102 can travel along a surface 106 of a ground 108 at a selectively adjustable height. Supported by the frame 102 is a milling drum 110, which is enclosed in an enclosure 112. Milling drum 110 may engage ground 108 through the open bottom of enclosure 112. The degree to which milling drum 110 engages ground surface 108, and the resulting depth of channels 114, may be controlled by the height of frame 102 from ground surface 108 and/or a mechanism (not shown) for adjusting the distance between frame 102 and milling drum 110. Debris generated during milling operations within the enclosure 112 is collected and removed by a conveyor belt 113 disposed along a boom 115 for unloading into a truck (not shown) in a known manner.

The machine 100 further includes a conveyor system 116 that collects debris from the area within the enclosure and transports the debris away via a boom 118 in a known manner. The machine 100 may be powered by an engine 120 and controlled by an operator occupying an operator cab 122. The operator cab 122 may include a top 124, which the operator includes controls and a display 126 that the operator may use to control the machine 100 and also receive feedback of various operating parameters of the machine 100. As can be seen by fig. 1 and 2, the operator's cab 122 is disposed above the enclosure 112 housing the milling drum 110, such that during operation it is not possible for an operator occupying the operator's cab 122 to visually monitor the milling drum 110 and determine where to cut. This situation exists in many different machine types and configurations and has not previously been addressed in a satisfactory manner.

For example, in the past the machine operators have worked in pairs or groups so that the operators walk along with the machine 100 and provide feedback to another operator of the operator cab 122 who is controlling the machine 100. While this collaborative effort may be acceptable for determining where to cut when the machine 100 is running in a straight line, the location of the cut is more difficult to determine even for an experienced operator, such as when the machine is turning to avoid an obstacle (e.g., a manhole cover or curb) during a cutting operation. Furthermore, the need to engage more than one operator to ensure accurate cutting increases the cost or complexity of the cutting or planing operation.

A schematic representation of the machine 100 is shown in fig. 3 for illustration. Referring to the figure, wherein the previously described structures are identified for simplicity by the same reference numerals previously used, the machine 100 includes a frame 102 that rotatably supports a milling drum 110 that is rotated by one or more motors 126 and that may be raised or lowered by actuators (not shown) in a known manner. Frame 102 includes four tracks 104 that are powered by motors (not shown) for propelling the machine along the ground. The milling drum 110 includes a plurality of cutter tools 128 that engage and grind the ground surface during planing operations as the milling drum 110 is rotating and the machine is advancing relative to the ground. As is typical of this type of machine, two or more tracks 104 may pivot relative to the frame 102 so that the machine 100 may be steered in any desired direction.

The unique steering capability of the machine 100 is advantageous for the type of operation of the machine, particularly when planing operations are performed near obstacles or in limited areas, but may also complicate the operation of the machine by the operator, particularly less experienced operators, in situations where steering of the machine may occur at either or both of the axles 130 of the frame 102. For example, when the machine 100 is traveling in a straight direction S indicated by the dashed and dotted line, all four tracks 104 may be directed straight. When both tracks 104 are rotated in the rotational direction T indicated by the dashed arrow by an angle α, as shown in fig. 3, the machine will assume a rotationally curved trajectory C indicated by the solid arrow.

The shape and radius of the rotation C will vary depending on the degree of rotation of the track 104 on each axle 130, and this effect is quite unique to the machine 100 with respect to the known radius of rotation of a rotating vehicle, such as a truck or car having rotating wheels on one or both axles. This is because, although the ratio of the turning angles is predefined and cannot be changed by the driver in such vehicles, the ratio of the tracks 104 on the axle 130 can be freely selected and adjusted by the operator. Additionally, the trajectory of the milling drum 110 is of interest to the operator of the machine 100, and is not generally the trajectory of the machine 100 or the tracks 104. Determination of the trajectory of milling drum 110 is further hindered in that the width W1 of enclosure 112 is greater than the track width W2 and also greater than the milling drum width W3, as shown in fig. 3, so visual cues to the operator relative to the visual machine components may be confusing and misleading in determining the true trajectory of milling drum 110 in real time during operation.

To assist the operator in accurately determining the trajectory of the milling drum 110 through visual information, a plurality of cameras or other visual transducer devices are disposed about the machine 100 and directed at least in the forward direction of travel of the machine 100, and are configured to provide signals containing the visual information to a controller 132 (fig. 2) that compiles and displays the trajectory of the milling drum 110 in real time during machine operation based on the speed and rotation angle of all tracks 104.

More specifically, the machine 100 may include at least one camera 134 mounted to the machine frame 102 or another machine structure and operative to provide visual or video signals to the controller 132, either wirelessly or via a communication line 136. In the illustrated embodiment, six possible positions of the cameras 134 are shown around the vehicle, with two cameras each viewing the area in front of, behind, and on either side of the machine, but it should be appreciated that as few as one camera 134 may be used to view the area in front of the machine. Each camera 134 is arranged to cover a viewable area 138 that extends to the ground within a viewing angle defined between two viewing lines 140. In an embodiment, such as the embodiment shown in fig. 2 using multiple cameras 134, the view lines 140 may intersect such that the viewable areas 138 from adjacent cameras 134 at least partially overlap to provide complete view coverage. In this embodiment, the various video signals provided to the controller 132 may be stitched together by the controller in the coverage area to provide the operator with a comprehensive view, including a top perspective view, of any viewing aspect of the machine through a visual display 144 disposed in the operator's cab 122.

The visual display 144 is connected to the controller 132 and is configured to receive information indicative of one or more views of the camera 134 therefrom, which is stitched, programmed, or otherwise processed and provided to the visual display by the controller 132. One possible embodiment of the visual display 144 and exemplary information that may be displayed thereon is shown in two operating configurations, one of which is found in fig. 4 and 5. Referring to these figures, the visual display 144 may be an electronic video display, such as a Liquid Crystal Display (LCD), or similar viewing device, and may include an electronic display screen 202 surrounded by a frame 204. The electronic display 202 may be a simple display or it may alternatively be a touch display that allows the user to provide input gestures on the display that are communicated to the controller, such as selecting a view, zooming, etc.

In the illustrated embodiment, the visual display 144 may be used to display job parameter illustrations from different perspectives to an operator. For example, a front view of the machine 100 is shown in fig. 4, while a left side view of the machine 100 is shown in fig. 5. It should be apparent that a front view of the machine 100 during operation, as shown in fig. 4, may be stitched together by the controller 132 to omit or hide the boom 115 and to provide the operator with a clear view of the area in front of the machine 100 as the machine advances during a planing operation and also as the machine travels to or from the worksite. The omission of the boom 115 is optional and may be accomplished by overlapping the viewable area 138 in front of the machine 100 when more than one camera 134 is utilized. As can be appreciated, depending on the number of cameras 134 and their layout on the machine 100, views other than those shown in fig. 4 and 5 may be created and made available to the operator.

In the particular exemplary embodiment shown in fig. 4 and 5, each view includes a video image of a work area 206 of the machine 100 in the foreground, and an ambient environment or background 208 surrounding the work area 206. Based on machine geometry information, such as the position of the operator cab 122 relative to the tracks 104, milling drum 110, one or more cameras 134, and other devices, and machine operating parameters, such as ground speed and the angle of rotation of the tracks 104 relative to the frame 102, all of which are provided to the controller 132, the controller 132 is programmed and configured to interpolate, calculate, or otherwise determine the milling drum trajectory C (fig. 3) as the machine 100 moves, either in a straight line or to perform a simple or compound turn. Such determination in the controller may be performed in real time based on known or predefined effects of speed, turning radius, depth of cut, etc., based on information received and processed in this manner in the controller.

The results of the trajectory determination in the controller may be visually displayed in the visual display 144 as a line or curve 210, which is superimposed or overlaid onto the work area 206 in the visual display 202, and set to coincide on the image with the actual edge of the cut that the milling drum will make if the machine continues to travel at the currently set speed and rotational input or parameters. The curve 210 represents the expected boundary or edge of the milling drum 110 as it will act on the ground in the location of the ground as represented in real time in the visual display 144. The curve 210 is indicated by a dashed arrow in fig. 4 and 5. Also shown in these figures as solid arrows is line 212, which represents the actual edge of the milling drum relative to the image shown. The line 212 points in a direction representing a normal projection of the corresponding vectors, which are coplanar and perpendicular to the axis of rotation of the milling drum. Line 212 may have a magnitude that qualitatively represents the speed of the machine and assists the operator in determining the direction in which a cutting operation is occurring at any given time. In such a live display provided to the operator, the line 212 and the curve 210 represent the actual edge of the milling drum 110 on the ground compared to the point 214.

For example, in one embodiment, when the machine 100 is used to make successive cuts in the same area, the lines 212 may be selected such that they coincide with the cut lines made during the first cut so that subsequent cuts may be aligned with previous cuts. In a given embodiment, the image from the camera 134 may be used, for example, in conjunction with a Global Positioning System (GPS) to show lines distinct from previous cut lines, such that an operator of the machine 100 may follow the previous cut lines by steering the machine using the lines 212 and/or dots or points 214.

The visual display 144 may further include other features and structures. For example, the illustrated embodiment includes several selector switches 216 that may be used by an operator to cycle through or select different perspectives or views relative to the machine. For example, a front perspective view is shown in fig. 4, and a left side enlarged perspective view is shown in fig. 5.

Industrial applicability

The present disclosure is applicable to machines that operate on ground surfaces, such as planing machines, and relates to surface-operating machines, such as cold planers, soil reclaimers, shovels, mini-tillers, and the like. The exemplary machine embodiment shown and described herein is a cold planer, which is a machine that travels along a roadway or other surface and grinds or planes the surface to remove a layer of material. While this exemplary embodiment illustrates various aspects of the present disclosure, it should be appreciated that any other machine type or configuration, including a penetrating tool that penetrates a surface on which the machine is disposed and covers a work area as the machine travels along the surface to create a strip across the work surface, is suitable for and may benefit from the various systems and methods described herein.

A block diagram of an electronic controller 300 according to the present disclosure is shown in fig. 6. Electronic controller 300 may be a single controller or may include more than one controller configured to control various functions and/or features of a machine. For example, a master controller used to control the overall operation and function of the machine may be cooperatively implemented with a controller used to control the visual display 202. In the present embodiment, the term "controller" is intended to encompass one, two, or more controllers that may be associated with the machine 100 and that may cooperate in controlling various functions and operations of the machine 100 (fig. 1). Although the functionality of the controller is conceptually shown in fig. 6 as including various discrete functions for purposes of illustration only, it may be implemented in hardware and/or software without regard to the discrete functions shown. Accordingly, the various interfaces of control are described with respect to the components of the drive system shown in the block diagram of FIG. 6. Such interfaces are not intended to limit the type and number of components connected nor the number of controls described.

The electronic controller 300 is configured to receive various inputs from various systems and sensors of the machine 100, and to compile a visual representation that is provided to assist an operator during a planing operation. In the particular exemplary embodiment shown, and with further reference to the schematic of the machine shown in fig. 3, the electronic controller 300 may receive a machine speed signal 302 provided by a speed sensor 301 (fig. 3), the speed sensor 301 being associated with the track 104 or otherwise configured to provide a speed signal 302 indicative of the speed of the machine 100 relative to the ground. The electronic controller 300 may further receive a rotation signal 304 provided by a rotation sensor 303 associated with each of the axles 130 of the machine 100. The rotation signal 304 indicates the degree of rotation of each axle 130. The electronic controller 300 may further receive a mill drum signal 306 that indicates one or more operating parameters of the mill drum 110, including, for example, whether the drum is rotating, the rotational speed of the drum, the depth of cut of the drum, the direction of rotation of the drum, and/or other parameters. Information about the milling drum may be provided to electronic controller 300 from one or more sensors, which are designated by 305 in fig. 3 for illustrative purposes.

An electronic controller 300, which may be executed in the controller 132 (fig. 2) or embodied as the controller 132, is also configured to receive one or more video signals 308 from various cameras, such as the cameras 134, disposed on the machine 100 and observing different areas around the machine during operation, as previously described with respect to fig. 2. The video signal 308 is provided to a video module 312 that operates to combine the various signals and stitch together the perspective of the machine surroundings. These perspective views 314 are provided to a cut position computer 310, which combines other operating parameters of the machine, including but not limited to the machine speed signal 302, the rotation signal 304, the mill drum signal 306, and/or other signals to calculate the mill drum cut position and trajectory, as described above. The cut position computer 310 may thereby create the curves and

lines

210 and 212 and generate a video overlay signal that is provided back to the video module 312. The video module 312 may then provide video feedback 316 to a display, such as the visual display 202, which includes a perspective view of the machine surroundings with current and projected trajectory information relative to the milling drum, as shown in fig. 4 and 5. The visual display may further indicate machine operational information such as machine orientation, cutting parameters such as depth of cut, ground speed, cutter speed, and other parameters shown in the exemplary illustrations of fig. 4 and 5.

It can be appreciated that the foregoing description provides examples of the disclosed systems and techniques. However, it is contemplated that other embodiments of the present disclosure may differ in detail from the foregoing examples. All references to the disclosure or examples thereof are intended to reference the particular example being discussed at the time of the change and are not intended to imply any limitation as to the more general scope of the disclosure. All language of distinction and disparagement with respect to certain features is intended to indicate a lack of preference for those features, but not to exclude such features from the scope of the disclosure entirely unless otherwise indicated.

Recitation of ranges of values herein are merely intended to serve as a shorthand method of referring individually to each separate value falling within the range, unless otherwise indicated herein, and each separate value is incorporated into the specification as if it were individually recited herein. All methods described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context.

Accordingly, this disclosure includes all modifications and equivalents of the subject matter recited in the claims appended hereto as permitted by applicable law. Moreover, any combination of the above-described elements in all possible variations thereof is encompassed by the disclosure unless otherwise indicated herein or otherwise clearly contradicted by context.

Claims

1. A machine, comprising:

a frame;

a plurality of ground engaging members configured to move the machine along a ground surface at a machine speed and steer the machine relative to the ground surface at a steering angle;

a machine speed sensor providing a machine speed signal indicative of the machine speed;

a steering sensor that provides a steering signal indicative of the steering angle;

a work implement connected to the frame, the work implement operative to cut at least a portion of the ground as the machine moves along the ground, wherein the work implement is a milling drum rotatably mounted to the frame and disposed within an enclosure;

an operator cab mounted to the frame at a location above the enclosure such that the milling drum is not visible to the operator of the machine when the operator occupies the operator cab,

at least one camera associated with the frame, the at least one camera configured to capture video images of and provide video signals relating to a viewable area, wherein the viewable area does not include any portion of the work implement;

a video display associated with an operator cab of the machine; and

an electronic controller associated with the frame, the electronic controller programmed and configured to:

receiving the machine speed signal, the turn signal, and the video signal;

determining, in real time, a current position of the work implement relative to the frame and relative to the viewable area;

compiling a visual display in which the current position and current orientation of the work implement relative to the viewable area are displayed in real time;

calculating a trajectory of the work implement based on the machine speed signal and the steering signal;

compiling a visual trajectory representation of a trajectory of the work implement relative to the viewable area;

combining the visual display and the visual track performance into a combined visual performance; and

providing the combined visual representation to the video display.

2. The machine of claim 1, wherein the plurality of ground engaging members are a set of four tracks arranged in two pairs of tracks, each pair of tracks disposed across a respective one of two axles of the frame, and wherein each of the two pairs of tracks is selectably steerable in unison relative to the frame in response to an operator command such that the resulting complex angle changes the path of the machine along the ground.

3. The machine of claim 1, further comprising a plurality of cameras, wherein the at least one camera is one of the plurality of cameras, and wherein each of the plurality of cameras is configured to view a corresponding viewable area and provide a corresponding video signal derived from a plurality of video signals to the electronic controller.

4. The machine of claim 3, wherein adjacent corresponding viewable areas at least partially overlap, and wherein the electronic controller is further programmed and configured to stitch together two or more corresponding viewable areas into different perspectives about the machine.

5. The machine of claim 4, wherein the video display is configured to display any one of the different perspectives.

6. The machine of any one of claims 1-5, wherein the machine is a cold planer.

7. A method for operating the machine of any of claims 1-6, the method comprising:

receiving the machine speed signal, the turn signal, and the video signal;

compiling a visual trajectory representation of the trajectory of the work implement relative to the viewable area;

combining the visual display and the visual trajectory representation into a combined visual representation; and

providing the combined visual representation to the video display.

8. The method of claim 7, further comprising providing a plurality of cameras, wherein the at least one camera is one of the plurality of cameras, and wherein each of the plurality of cameras is configured to view a corresponding viewable area and provide a corresponding video signal derived from a plurality of video signals to the electronic controller.